clear;
clc;
L(1) = Link('revolute','d',0,'a',370,'alpha',0);
L(2) = Link('revolute','d',0,'a',390,'alpha',0,'offset',0);
L(3) = Link('revolute','d',0,'a',400,'alpha',0,'offset',0);
%%L(4) = Link('revolute','d',0,'a',0,'alpha',pi/2,'offset',atan(427.46/145));
%%L(5) = Link('revolute','d',0.258,'a',0,'alpha',0);
Five_dof = SerialLink(L,'name','5-dof');
q0 = [0,2.418,2.75];
%Five_dof.base= transl(0,2.418,2.75);
T = Five_dof.fkine(q0)
Five_dof.display
Five_dof.teach
%Five_dof.teach;
